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package edu.archwood.frc2607.logomotion;

/**
 *
 * @author Ron
 */
public interface LogomotionConstants {

//    public static final int frontLeftCANID = 5, frontRightCANID = 11,
//                            rearLeftCANID = 10, rearRightCANID = 12;
    
    // what was the front is now the back
    public static final int frontLeftCANID = 12, frontRightCANID = 10,
                            rearLeftCANID = 4, rearRightCANID = 5;

    public static final int elbowLeftCANID = 14, elbowRightCANID = 6;
    public static final int shoulderLeftCANID = 8, shoulderRightCANID = 20;
/*
    public static final int frontLeftEncoderLines = 350,
                            frontRightEncoderLines = 360,
                            rearLeftEncoderLines = 250,
                            rearRightEncoderLines = 250;
 *
 */
    // what was the front is now the back
    public static final int frontLeftEncoderLines = 250,
                            frontRightEncoderLines = 250,
                            rearLeftEncoderLines = 360,
                            rearRightEncoderLines = 350;
    
    public static final double frontLeftP = .350, frontLeftI = .004, frontLeftD = .001;
    public static final double frontRightP = .350, frontRightI = .004, frontRightD = .001;
    public static final double rearLeftP = .350, rearLeftI = .004, rearLeftD = .001;
    public static final double rearRightP = .350, rearRightI = .004, rearRightD = .001;

    public static final double minRPM = 10.0, maxRPM = 800.0;
    public static final double rangeRPM = (maxRPM - minRPM);
    public static final double elbowMinPosition = 6, elbowMaxPosition = 955,
                               shoulderMinPosition = 130, shoulderMaxPosition = 900;

    public static final int compressorRelay = 1;
    public static final int gyroAI = 1, temperatureAI = 2,
                            elbowPotAI = 4, shoulderPotAI = 6;
    public static final int leftPhotoSwitchDI = 2, midPhotoSwitchDI = 1,
                            rightPhotoSwitchDI = 3, compressorSwitchDI = 5;
    public static final int clawSolenoid = 1;

    public String getTelemetryHeader();      // returns string to use in header row of CSV
    public String getTelemetryData();        // returns data row in CSV format
}
